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<div class="title">optimization_algorithm_property.h</div>  </div>
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<a href="optimization__algorithm__property_8h.html">Go to the documentation of this file.</a><div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">// g2o - General Graph Optimization</span></div><div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment">// Copyright (C) 2011 R. Kuemmerle, G. Grisetti, W. Burgard</span></div><div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="comment">// All rights reserved.</span></div><div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="comment">//</span></div><div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="comment">// Redistribution and use in source and binary forms, with or without</span></div><div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="comment">// modification, are permitted provided that the following conditions are</span></div><div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="comment">// met:</span></div><div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="comment">//</span></div><div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;<span class="comment">// * Redistributions of source code must retain the above copyright notice,</span></div><div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;<span class="comment">//   this list of conditions and the following disclaimer.</span></div><div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;<span class="comment">// * Redistributions in binary form must reproduce the above copyright</span></div><div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;<span class="comment">//   notice, this list of conditions and the following disclaimer in the</span></div><div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;<span class="comment">//   documentation and/or other materials provided with the distribution.</span></div><div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;<span class="comment">//</span></div><div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;<span class="comment">// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS &quot;AS</span></div><div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160;<span class="comment">// IS&quot; AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED</span></div><div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160;<span class="comment">// TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A</span></div><div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160;<span class="comment">// PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT</span></div><div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160;<span class="comment">// HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,</span></div><div class="line"><a name="l00020"></a><span class="lineno">   20</span>&#160;<span class="comment">// SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED</span></div><div class="line"><a name="l00021"></a><span class="lineno">   21</span>&#160;<span class="comment">// TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR</span></div><div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160;<span class="comment">// PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF</span></div><div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160;<span class="comment">// LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING</span></div><div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160;<span class="comment">// NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS</span></div><div class="line"><a name="l00025"></a><span class="lineno">   25</span>&#160;<span class="comment">// SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.</span></div><div class="line"><a name="l00026"></a><span class="lineno">   26</span>&#160;</div><div class="line"><a name="l00027"></a><span class="lineno">   27</span>&#160;<span class="preprocessor">#ifndef G2O_OPTIMIZATION_ALGORITHM_PROPERTY_H</span></div><div class="line"><a name="l00028"></a><span class="lineno">   28</span>&#160;<span class="preprocessor">#define G2O_OPTIMIZATION_ALGORITHM_PROPERTY_H</span></div><div class="line"><a name="l00029"></a><span class="lineno">   29</span>&#160;</div><div class="line"><a name="l00030"></a><span class="lineno">   30</span>&#160;<span class="preprocessor">#include &lt;string&gt;</span></div><div class="line"><a name="l00031"></a><span class="lineno">   31</span>&#160;</div><div class="line"><a name="l00032"></a><span class="lineno">   32</span>&#160;<span class="keyword">namespace </span><a class="code" href="namespaceg2o.html">g2o</a> {</div><div class="line"><a name="l00033"></a><span class="lineno">   33</span>&#160;</div><div class="line"><a name="l00037"></a><span class="lineno"><a class="line" href="structg2o_1_1_optimization_algorithm_property.html">   37</a></span>&#160;<span class="keyword">struct  </span><a class="code" href="structg2o_1_1_optimization_algorithm_property.html">OptimizationAlgorithmProperty</a></div><div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;{</div><div class="line"><a name="l00039"></a><span class="lineno"><a class="line" href="structg2o_1_1_optimization_algorithm_property.html#aedb3c54122d6a75d49e1677e836bac22">   39</a></span>&#160;  std::string <a class="code" href="structg2o_1_1_optimization_algorithm_property.html#aedb3c54122d6a75d49e1677e836bac22">name</a>;           </div><div class="line"><a name="l00040"></a><span class="lineno"><a class="line" href="structg2o_1_1_optimization_algorithm_property.html#a9390204f7ff2f092241f55656d8458b1">   40</a></span>&#160;  std::string <a class="code" href="structg2o_1_1_optimization_algorithm_property.html#a9390204f7ff2f092241f55656d8458b1">desc</a>;           </div><div class="line"><a name="l00041"></a><span class="lineno"><a class="line" href="structg2o_1_1_optimization_algorithm_property.html#a199f33f536f48f6ceda037f6a2ff206d">   41</a></span>&#160;  std::string <a class="code" href="structg2o_1_1_optimization_algorithm_property.html#a199f33f536f48f6ceda037f6a2ff206d">type</a>;           </div><div class="line"><a name="l00042"></a><span class="lineno"><a class="line" href="structg2o_1_1_optimization_algorithm_property.html#a179837f3866e8786ce3a7f7a34bdda44">   42</a></span>&#160;  <span class="keywordtype">bool</span> <a class="code" href="structg2o_1_1_optimization_algorithm_property.html#a179837f3866e8786ce3a7f7a34bdda44">requiresMarginalize</a>;   </div><div class="line"><a name="l00043"></a><span class="lineno"><a class="line" href="structg2o_1_1_optimization_algorithm_property.html#a2c0c87eeaa423e8c944cfa846eb6a553">   43</a></span>&#160;  <span class="keywordtype">int</span> <a class="code" href="structg2o_1_1_optimization_algorithm_property.html#a2c0c87eeaa423e8c944cfa846eb6a553">poseDim</a>;                </div><div class="line"><a name="l00044"></a><span class="lineno"><a class="line" href="structg2o_1_1_optimization_algorithm_property.html#ad946dec26df70a6fb6d99f2ab76db269">   44</a></span>&#160;  <span class="keywordtype">int</span> <a class="code" href="structg2o_1_1_optimization_algorithm_property.html#ad946dec26df70a6fb6d99f2ab76db269">landmarkDim</a>;            </div><div class="line"><a name="l00045"></a><span class="lineno"><a class="line" href="structg2o_1_1_optimization_algorithm_property.html#a2d83548ee175988e11738ae43c7a9803">   45</a></span>&#160;  <a class="code" href="structg2o_1_1_optimization_algorithm_property.html#a2d83548ee175988e11738ae43c7a9803">OptimizationAlgorithmProperty</a>() :</div><div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;    name(), desc(), type(), requiresMarginalize(false), poseDim(-1), landmarkDim(-1)</div><div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;  {</div><div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;  }</div><div class="line"><a name="l00049"></a><span class="lineno"><a class="line" href="structg2o_1_1_optimization_algorithm_property.html#a5633cbd029eda42670f801de508f945b">   49</a></span>&#160;  <a class="code" href="structg2o_1_1_optimization_algorithm_property.html#a5633cbd029eda42670f801de508f945b">OptimizationAlgorithmProperty</a>(<span class="keyword">const</span> std::string&amp; name_, <span class="keyword">const</span> std::string&amp; desc_, <span class="keyword">const</span> std::string&amp; type_, <span class="keywordtype">bool</span> requiresMarginalize_, <span class="keywordtype">int</span> poseDim_, <span class="keywordtype">int</span> landmarkDim_) :</div><div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160;    name(name_), desc(desc_), type(type_), requiresMarginalize(requiresMarginalize_), poseDim(poseDim_), landmarkDim(landmarkDim_)</div><div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160;  {</div><div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160;  }</div><div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160;};</div><div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160;</div><div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160;} <span class="comment">// end namespace</span></div><div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160;</div><div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160;<span class="preprocessor">#endif</span></div><div class="ttc" id="structg2o_1_1_optimization_algorithm_property_html"><div class="ttname"><a href="structg2o_1_1_optimization_algorithm_property.html">g2o::OptimizationAlgorithmProperty</a></div><div class="ttdoc">describe the properties of a solver </div><div class="ttdef"><b>Definition:</b> optimization_algorithm_property.h:37</div></div>
<div class="ttc" id="structg2o_1_1_optimization_algorithm_property_html_aedb3c54122d6a75d49e1677e836bac22"><div class="ttname"><a href="structg2o_1_1_optimization_algorithm_property.html#aedb3c54122d6a75d49e1677e836bac22">g2o::OptimizationAlgorithmProperty::name</a></div><div class="ttdeci">std::string name</div><div class="ttdoc">name of the solver, e.g., var </div><div class="ttdef"><b>Definition:</b> optimization_algorithm_property.h:39</div></div>
<div class="ttc" id="structg2o_1_1_optimization_algorithm_property_html_a179837f3866e8786ce3a7f7a34bdda44"><div class="ttname"><a href="structg2o_1_1_optimization_algorithm_property.html#a179837f3866e8786ce3a7f7a34bdda44">g2o::OptimizationAlgorithmProperty::requiresMarginalize</a></div><div class="ttdeci">bool requiresMarginalize</div><div class="ttdoc">whether the solver requires marginalization of landmarks </div><div class="ttdef"><b>Definition:</b> optimization_algorithm_property.h:42</div></div>
<div class="ttc" id="structg2o_1_1_optimization_algorithm_property_html_a2d83548ee175988e11738ae43c7a9803"><div class="ttname"><a href="structg2o_1_1_optimization_algorithm_property.html#a2d83548ee175988e11738ae43c7a9803">g2o::OptimizationAlgorithmProperty::OptimizationAlgorithmProperty</a></div><div class="ttdeci">OptimizationAlgorithmProperty()</div><div class="ttdef"><b>Definition:</b> optimization_algorithm_property.h:45</div></div>
<div class="ttc" id="structg2o_1_1_optimization_algorithm_property_html_a9390204f7ff2f092241f55656d8458b1"><div class="ttname"><a href="structg2o_1_1_optimization_algorithm_property.html#a9390204f7ff2f092241f55656d8458b1">g2o::OptimizationAlgorithmProperty::desc</a></div><div class="ttdeci">std::string desc</div><div class="ttdoc">short description of the solver </div><div class="ttdef"><b>Definition:</b> optimization_algorithm_property.h:40</div></div>
<div class="ttc" id="structg2o_1_1_optimization_algorithm_property_html_a5633cbd029eda42670f801de508f945b"><div class="ttname"><a href="structg2o_1_1_optimization_algorithm_property.html#a5633cbd029eda42670f801de508f945b">g2o::OptimizationAlgorithmProperty::OptimizationAlgorithmProperty</a></div><div class="ttdeci">OptimizationAlgorithmProperty(const std::string &amp;name_, const std::string &amp;desc_, const std::string &amp;type_, bool requiresMarginalize_, int poseDim_, int landmarkDim_)</div><div class="ttdef"><b>Definition:</b> optimization_algorithm_property.h:49</div></div>
<div class="ttc" id="structg2o_1_1_optimization_algorithm_property_html_ad946dec26df70a6fb6d99f2ab76db269"><div class="ttname"><a href="structg2o_1_1_optimization_algorithm_property.html#ad946dec26df70a6fb6d99f2ab76db269">g2o::OptimizationAlgorithmProperty::landmarkDim</a></div><div class="ttdeci">int landmarkDim</div><div class="ttdoc">dimension of the landmar vertices (-1 if variable) </div><div class="ttdef"><b>Definition:</b> optimization_algorithm_property.h:44</div></div>
<div class="ttc" id="namespaceg2o_html"><div class="ttname"><a href="namespaceg2o.html">g2o</a></div><div class="ttdef"><b>Definition:</b> base_binary_edge.h:37</div></div>
<div class="ttc" id="structg2o_1_1_optimization_algorithm_property_html_a199f33f536f48f6ceda037f6a2ff206d"><div class="ttname"><a href="structg2o_1_1_optimization_algorithm_property.html#a199f33f536f48f6ceda037f6a2ff206d">g2o::OptimizationAlgorithmProperty::type</a></div><div class="ttdeci">std::string type</div><div class="ttdoc">type of solver, e.g., &quot;CSparse Cholesky&quot;, &quot;PCG&quot; </div><div class="ttdef"><b>Definition:</b> optimization_algorithm_property.h:41</div></div>
<div class="ttc" id="structg2o_1_1_optimization_algorithm_property_html_a2c0c87eeaa423e8c944cfa846eb6a553"><div class="ttname"><a href="structg2o_1_1_optimization_algorithm_property.html#a2c0c87eeaa423e8c944cfa846eb6a553">g2o::OptimizationAlgorithmProperty::poseDim</a></div><div class="ttdeci">int poseDim</div><div class="ttdoc">dimension of the pose vertices (-1 if variable) </div><div class="ttdef"><b>Definition:</b> optimization_algorithm_property.h:43</div></div>
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